Plan a waypoint for drone to move based on distance input in mission planner (Jetson Nano + Intel T265 Tracking Camera)

Hi, i setup my drone with T265 tracking camera and jetson nano as per in the T265 tracking Camera ardupilot documentation. After done testing in guide mode it can move to where i point on the map. Now i want to create a waypoints on a map and upload it into the pixhawk and let the drone fly autonomously. Is it possible as the there is no GPS to tell the drone where it is in a map? Other than set its Ekf origination.